#ifndef __DATA0_AIRSA_SETTING_H
#define __DATA0_AIRSA_SETTING_H
// MOTOR CORRECTION
////////////////////////////////////////////////////////////////////////////////////////////////////
//....................................................................................................
short MotorData_Correction[MOTOR_NUM] = 
{
                  
								//Head						//   0      1
															   -77,	  -77,
								//Waist					       //   2      3      4    
															   -30,    60,	  90,
								//Right Arm	 				//  10     11     12     13     14
															     0,    60,     0,     0,     0,
								//Left Arm	  				//  20     21     22     23     23
															     0,   -80,     0,     0,     0,
								//Righr Foot				//  30     31     32     33     34     35
															         -40,   -60,    30,   -30,    20,    -20,
								//Left Foot					//  40     41     42     43     44     45
															          40,    40,   -40,    60,   120,     20

}; 
//....................................................................................................
////////////////////////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////////////////////////				 
// MOTION parameters
////////////////////////////////////////////////////////////////////////////////////////////////////
//....................................................................................................
// Actual data
#define STEP_F_DISTANCE  			1.75 // Positive
#define STEP_B_DISTANCE  			-1.5 // Negative
//....................................................................................................
#define SHIFT_R_DISTANCE 			2.25 // Positive
#define SHIFT_L_DISTANCE 			-2.75 // Negative
#define SHIFT_RR_DISTANCE 			5 // Positive
#define SHIFT_LL_DISTANCE 		-5 // Negative
//....................................................................................................
#define TURN_R_ANGLE 						2  // Positive
#define TURN_L_ANGLE 					-6 // Negative
#define TURN_RR_ANGLE 				17.5 // Positive
#define TURN_LL_ANGLE 				-22  // Negative
//....................................................................................................
#define TURNBALL_R_ANGLE 			10  // Positive
#define TURNBALL_L_ANGLE 			-10 // Negative
//....................................................................................................
#define WALK_F_DISTANCE 			5 // Positive
#define WALK_B_DISTANCE 			-3
#define WALK_FR_DISTANCE 			5
#define WALK_FR_ANGLE    			3 // Positive
#define WALK_FL_DISTANCE 			5
#define WALK_FL_ANGLE    			-3 // Negative
#define WALK_BR_DISTANCE 			-5
#define WALK_BR_ANGLE    			3 // Positive
#define WALK_BL_DISTANCE 			-5
#define WALK_BL_ANGLE    			-3 // Negative
//....................................................................................................
#endif // __DATA0_AIRSA_SETTING_H
